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6040.hal

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Jan 30th, 2020
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  1. # Generated by stepconf at Tue Jul 8 22:22:10 2014
  2. # If you make changes to this file, they will be
  3. # overwritten when you run stepconf again
  4. loadrt trivkins
  5. loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
  6. loadrt probe_parport
  7. loadrt hal_parport cfg="0x378 out "
  8. setp parport.0.reset-time 2000
  9. loadrt stepgen step_type=0,0,0
  10.  
  11. addf parport.0.read base-thread
  12. addf stepgen.make-pulses base-thread
  13. addf parport.0.write base-thread
  14. addf parport.0.reset base-thread
  15.  
  16. addf stepgen.capture-position servo-thread
  17. addf motion-command-handler servo-thread
  18. addf motion-controller servo-thread
  19. addf stepgen.update-freq servo-thread
  20. #jdh#net spindle-cmd <= motion.spindle-speed-out
  21.  
  22. setp parport.0.pin-01-out-invert 1
  23. net estop-out => parport.0.pin-01-out
  24. setp parport.0.pin-02-out-invert 1
  25. net xstep => parport.0.pin-02-out
  26. setp parport.0.pin-02-out-reset 1
  27. setp parport.0.pin-03-out-invert 1
  28. net xdir => parport.0.pin-03-out
  29. setp parport.0.pin-04-out-invert 1
  30. net ystep => parport.0.pin-04-out
  31. setp parport.0.pin-04-out-reset 1
  32. setp parport.0.pin-05-out-invert 1
  33. net ydir => parport.0.pin-05-out
  34. setp parport.0.pin-06-out-invert 1
  35. net zstep => parport.0.pin-06-out
  36. setp parport.0.pin-06-out-reset 1
  37. setp parport.0.pin-07-out-invert 1
  38. net zdir => parport.0.pin-07-out
  39. setp parport.0.pin-17-out-invert 1
  40. net xenable => parport.0.pin-17-out
  41.  
  42.  
  43.  
  44.  
  45. setp stepgen.0.position-scale [AXIS_0]SCALE
  46. setp stepgen.0.steplen 1
  47. setp stepgen.0.stepspace 0
  48. setp stepgen.0.dirhold 18000
  49. setp stepgen.0.dirsetup 18000
  50. setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
  51. net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
  52. net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
  53. net xstep <= stepgen.0.step
  54. net xdir <= stepgen.0.dir
  55. net xenable axis.0.amp-enable-out => stepgen.0.enable
  56.  
  57. setp stepgen.1.position-scale [AXIS_1]SCALE
  58. setp stepgen.1.steplen 1
  59. setp stepgen.1.stepspace 0
  60. setp stepgen.1.dirhold 18000
  61. setp stepgen.1.dirsetup 18000
  62. setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
  63. net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
  64. net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
  65. net ystep <= stepgen.1.step
  66. net ydir <= stepgen.1.dir
  67. net yenable axis.1.amp-enable-out => stepgen.1.enable
  68.  
  69. setp stepgen.2.position-scale [AXIS_2]SCALE
  70. setp stepgen.2.steplen 1
  71. setp stepgen.2.stepspace 0
  72. setp stepgen.2.dirhold 18000
  73. setp stepgen.2.dirsetup 18000
  74. setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
  75. net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
  76. net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
  77. net zstep <= stepgen.2.step
  78. net zdir <= stepgen.2.dir
  79. net zenable axis.2.amp-enable-out => stepgen.2.enable
  80.  
  81. net estop-out <= iocontrol.0.user-enable-out
  82. net estop-out => iocontrol.0.emc-enable-in
  83.  
  84. loadusr -W hal_manualtoolchange
  85. net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
  86. net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  87. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  88. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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